Restarting Speed/Position Switching Control - Mitsubishi Electric A173UHCPU Programming Manual

7. POSITIONING CONTROL
7.14.2

Restarting speed/position switching control

Servo Positioning
Instruction Method
VPSTART
[Control Details]
SVST insutruction
VPF/VPR instruction
VPSTART
M3205+20n
Restarting (continuing) speed/position switching control after a stop due to a stop
command. Control is restarted using the VPSTART servo instruction.
Common
Number of
Controllable
Axes
!
(1) Speed/position switching control is continued after it was stopped due to a stop
command.
(2) Restarting using VPSTART is valid whether the stop occurred during speed
control or position control.
(a) If the stop occurred during speed control, then speed control continues and
switches to position control when the CHANGE signal turns ON.
The control conditions after restarting are the same as the
previous speed/position switching control conditions.
See 7.14.1 "Starting Speed/Position Switching Control".
Operation speed
Speed/position
V
switching control
start
Speed control
OFF
Fig.7.27 Restarting During Speed Control
Items Set by Peripherals
Arc
Stop command received
Restart
Stop
ON
7 − 75
Parameter Block
CHANGE signal ON
Set travel value
Stop
Speed Position
control control
Others
∆ ∆
! : Must be set
∆ : Set if required
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