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6.1.9 Speed/position changeover control
1-axis control with VPF, VPR (increment method)
(1) After the servomotor starts, speed control is carried out. When the speed/position
changeover enable signal (M3205/axis 1) is ON, the control will change from
speed control to position control with the CHANGE (speed/position changeover)
signal from an external source, and positioning will take place for the designated
movement amount.
(a) VPF....Forward direction (address increment direction) start
(b) VPR ...Reverse direction (address decrement direction) start
(2) The designated positioning is carried out with the increment method when the
CHANGE external signal is input.
1, 100000.0
5000.00 (mm/min)
200
100
0
0 100 200 300 (mm)50
CHANGE
REAL
<K 32>
VPF
AXIS
SPEED
Movement
amount
Start point
End point
CHANGE signal
Time
Speed
Speed control
Positioning
control
(µ/m)
REMARK
The response is not delayed after the CHANGE external signal is input.
- Q172CPU(N) 1
- Q173CPU(N) 1
- MOTION CONTROLLER 1
- SCHOOL TEXTBOOK 1
- • SAFETY INSTRUCTIONS • 3
- Revision History 4
- Introduction 10
- Chapter 1 Outline 11
- 1.2 Outline of control 14
- Parameters for oisitioning 15
- 2.1 List of specifications 17
- 2.2.1 Q172CPU(N) system 19
- 2.2.2 Q173CPU(N) system 20
- 2.3 Names of each part 21
- Functions of each part 22
- Chapter 3 Q-PLC Multi-CPU 25
- 3.1 Multi-CPU system 26
- 3.1.3 Input/output numbers 28
- No. of points (*) 30
- Other machine interrupt 33
- SP.DDRD 35
- SP.DDWR 37
- Chapter 4 Q Motion CPU 39
- 4.2 Servo data 40
- 4.2.1 Basic system setting 41
- 4.2.2 Multi-CPU setting 42
- 4.2.3 Fixed parameters 43
- 4.2.4 Servo parameters 44
- [Option] 46
- [Extended servo parameters] 47
- 4.2.5 Zero point return data 48
- 4.2.6 JOG operation data 49
- 4.2.7 Parameter block 50
- (2) List of M4000 to M5471 54
- Applicable mode 56
- 4.4.2 Coast timer (FT) 67
- Execution of 69
- Program name 70
- 5.4 SFC program name 73
- 5.5 Steps 74
- 5.5.2 Operation control step 75
- 5.5.4 Clear step 77
- 5.6 Transition 78
- 5.7 Jump/pointer 79
- 5.8 END 79
- 5.9 Branch/connection 80
- 5.10 Y/N transition 83
- 5.11 Task operation 85
- 5.12 SFC parameters 87
- 5.14 SFC program end method 88
- 6.1 Servo program 89
- 6.1.2 List of servo commands 90
- : Item set as necessary 92
- – : Item that cannot be set 92
- * : Possible 92
- 6.1.3 Linear control 96
- 6.1.8 Speed control 100
- Positioning 101
- 6.1.13 Simultaneous start 105
- 6.1.14 Zero point return 106
- 6.1.20 Current value change 113
- 7.4 Other commands 120
- TIME K60000 122
- MULTW HA00, D0, K2, M0 123
- MULTR #0, H3E0, HC00, K2 124
- SW6RN-SNETP 125
- RS-232C cable 126
- RS-232C 126
- Q172CPU 126
- Q02HCPU 126
- OFF ← ON 130
- DIP switch 130
- Set to OFF and then 130
- 8.3 Setting the Q-PLC CPU 131
- 8.3.2 Setting the multi-CPU 132
- Continued from previous page 134
- RS-2320 cable 135
- 8.4 Starting up SW6RN-GSV22P 137
- 9.1 Details of practice 141
- VIRTUA 143
- Y20 to Y2F 144
- 9.3 System setting 145
- 9.4 Setting the servo data 152
- 9.5 Practice SFC programs 155
- Initial setting 156
- Real mode main 156
- JOG operation 156
- Servo pro 156
- Servo program continuation 157
- Zero point return 157
- 9.6 Creating SFC programs 159
- 9.8 Test operation 180
- 9.8.1 JOG operation 180
- button 182
- 9.9 Program for operation 184
- (2) Q02HCPU sequence program 185
- 9.9.2 JOG operation 186
- X0 X1 X2 188
- X3 X4 X5 188
- X6 X7 X8 188
- Waiting point 190
- Servo program continuous 191
- 9.10.1 Operation 193
- • Press 194
- • Is the servo ON? 194
- 9.10.2 Monitor operation 196
- 9.10.3 Monitor trace graph 199
- (Continued on next page) 200
- Enlargement/reduction 207
- Downward 207
- 9.11 Ending the operations 208
- 10.1 Details of practice 209
- VIRTUAL 211
- Y2F to Y20 212
- Y30 Y31 Y32 Y33 212
- X20 X21 X22 X23 212
- [Servo program continuation] 213
- Servo program execution 214
- Waiting point positioning 214
- Current value change 216
- Start/sudden stop 217
- Error detection_Reset_EMG 217
- • Q02H sequence program 218
- 10.5 Program for operation 224
- Servo Pro 227
- Address 227
- COMPOSITE VELOCITY 228
- Waiting position 228
- Axis 1 1, 12, 30, 31 229
- Axis 2 2, 14 229
- 10.5.4 Stopping 232
- 10.5.5 Error reset 233
- 10.5.7 Speed change (CHGV) 236
- REFERENCE 238
- VELOCITY 242
- Indirect address designation 245
- '1' is added to #0 245
- 10.6.1 Operation 246
- Push-button 249
- Stop/sudden stop 249
- Speed change 250
- • Turn ON 253
- • When the speed change 253
- Transmission module 255
- Connection 256
- Auxiliary input 256
- 11.1.3 Virtual servomotor 257
- 11.1.4 Synchronous encoder 257
- 11.1.5 Virtual axis 257
- 11.1.6 Gears 257
- 11.1.7 Clutch 258
- 11.1.8 Transmission 259
- 11.1.9 Differential gears 259
- 11.1.10 Rollers 259
- 11.1.11 Ball screw 260
- 11.1.12 Rotary table 260
- 11.1.13 Cam 261
- • Feed cam mode 262
- 11.2 Details of practice 263
- 1 0.0 80.0 30.00 266
- 2 180.0 100.00 266
- 30.00.00 266
- Virtual axis current value 270
- Virtual mode JOG operation 271
- Virtual error detection 271
- Virtual servo program 276
- 11.5 Editing the mechanism 280
- • Servo programs 284
- • Mechanism programs 284
- • Cam data 284
- SFC program 289
- Virtual servo 290
- Virtual stop/sudden stop 290
- Clutch ON/OFF 292
- • When the 293
- 298
- Appendix 299
- SYN. SPEE 305
- Appendix 2 Sample motion SFC 308
- (4) SFC program list 311
- Positioning device 312
- Automatic machine 321
- Open hard disk capacity 321
- J1 to J8 328
- Command start accept 329
- Device of status display 329
- CPU interrupt 334
- END END END END 335
- ON: For abnormal 335
- Acceleration 337
- Obstacle 338
- You can also use pulses! 339
- Electro 342
- MR- B-So 344
- Interface 350
- Movement distance 351
- Toothed gear 351
- Resolver 351
- Sudden stop 356
- → P1 → P2 358
- → A1 → A2 → A3 → 358
- Zero point 359
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