Instruction manual

6 - 99
6 POSITIONING CONTROL
[Cautions]
(1) Item check at the CHANGE signal ON from external source
When the external CHANGE signal turns on, speed control switches to position
control if the following conditions are met:
• Start accept flag (M2001+n) is turning on.
• Speed control is executing after starting of the speed/position switching control.
• Speed/position switching enable command (M3205+20n) is turning on.
(2) No speed control
Position control only is executed if M3205+20n and CHANGE signal are turning
on at the start. The speed controlling signal (M2404+20n) does not turn on.
Speed controlling (M2404+20n)
Servo program start
Speed switching signal
input (CHANGE)
ON
OFF
Speed/position switching
enable command (M3205+20n)
t
Position control only is executed, if M3205+20n
and CHANGE are turning on at the start.
V
OFF
OFF
OFF
OFF
ON
ON
Speed/position switching
latch (M2405+20n)
(3) "Travel value for position control" is less than "deceleration distance"
(a) If the travel value for position control is less than the deceleration distance at
controlling speed, deceleration processing starts immediately when
CHANGE is input.
(b) The difference between travel value for the deceleration stop and position
control is the overrun. At this time, the error detection signal (M2407+20n)
turns on and error code [209] is stored in the data register.
(c) The positioning complete signal (M2401+20n) does not turn on.
Positioning complete signal
(M2401+20n)
Error detection (M2407+20n)
t
Overrun
Travel value for
position control
V
ON
ON
ON
OFF
OFF
OFF
OFF
Speed/position switching
enable command (M3205+20n)
Position switching signal
input (CHANGE)