Instruction manual

6 - 7
6 DRIVE MODULE
(8) Reverse return during positioning
By specifying a negative speed and making a speed change request by the
CHGV instruction during the start, allow the axis start deceleration at that point
and return in the opposite direction upon completion of deceleration.
The following operations by the servo instruction are shown below.
Control mode Servo instruction Operation
Linear control
ABS 1 INC 1
ABS
2 INC 2
ABS
3 INC 3
ABS
4 INC 4
Circular/helical
interpolation control
ABS circular ABH circular
INC circular
INH circular
Fixed-pitch feed
FEED 1 FEED 2 FEED 3
• On completion of deceleration, the axis reverses
its travel direction, returns to the positioning start
point at the absolute value of the specified speed,
and stops (waits).
For circular interpolation, the axis returns in the
circular path.
Constant-speed
control
CPSTART1 CPSTART2
CPSTART3
CPSTART4
• On completion of deceleration, the axis reverses
its travel direction, returns to the preceding point at
the absolute value of the specified speed, and
stops (waits).
Speed control ( )
VF VR
• On completion of deceleration, the axis reverses
its travel direction at the absolute value of the
specified speed.
The axis does not stop until a stop instruction is
input.
Position follow-up
control
PFSTART
Speed-switching
control
VSTART
JOG operation
• The axis cannot return.
• The speed change request is regarded as a
normal speed change request.
• Minor error [305]
(Note)
occurs and the axis is
controlled at the speed limit value.
(Note) : Minor error [305]: The setting speed is outside the range of 0 to the speed limit value.