Mitsubishi Electric SV13/22 Programming Manual page 233

7. POSITIONING CONTROL
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Operation timing and the procedure to write servo programs
The method to write servo programs for speed-switching control and the operation
timing are shown in Figure 7.30.
[Servo program]
Start speed-switching
control
Designate end address
Designate speed-switching
points
NO
All speed-switching
points designated?
End speed-switching control
[Operation timing]
Axis 3 positioning direction
60000
5000
Fig. 7.30 Servo Program for Speed/Position Switching Control And Operation
Timing
search engine
Start
YES
End
P4
P3
P2
70000
0 20000 60000
Speed-switching
V
point(P2)
0
7 − 81
<K >
VSTART
ABS-2
Axis 4, 75000
Axis 3, 60000
Speed
VABS
Axis 4, 20000
Speed
VABS
Axis 4, 60000
Speed
VABS
Axis 4, 70000
Speed
VEND
P1
Axis 4 positioning direction
80000
Speed-switching point
Stop(P1)
t
...P1
2000
...P2
7000
...P3
6000
...P4
4000