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CHAPTER 7 PROGRAMMING
7
7.4 When Using the Module in a Remote I/O Network
7.4.3 Major positioning control program
(3) Speed-position control switch mode program
This program switches the positioning mode to the "speed-position control switch mode". Suppose that the
parameter setting and OPR were completed. ( Page 149, Section 7.4.1, Page 151, Section 7.4.2)
(a) Program detail
• As X29 is turned on, the positioning mode is set to "speed-position control switch mode".
• As X2A is turned on, the following positioning data are written.
• As X2B is turned on, the module starts speed control. The module switches the operation to position
control following an external control switch command.
• As X2D is turned on, the module restarts operation in case that the operation was stopped following a stop
signal input.
(b) Execution condition
Item Setting detail
Positioning address P1
5000pulse
Positioning speed V1
1000pulse/s
Check item Condition Note
External I/O
signal
Servo READY signal (READY) ON
Stop signal (STOP) OFF
Upper limit signal (FLS) ON
Lower limit signal (RLS) ON
I/O signal
QD73A1 READY signal (X1021) ON
BUSY signal (X1024) OFF
Excessive error signal (X1027) OFF
Error detection signal (X1028) OFF
Forward start complete signal (X1032) OFF
Synchronization flag (X1034) ON
Forward start signal (Y1032) OFF
Reverse start signal (Y1033) OFF
Speed-position mode restart signal
(Y1036)
OFF
Stop signal (Y1037) OFF
Speed-position switching enable signal
(Y103C)
OFF
PLC READY signal (Y103D) ON
Buffer memory Positioning data No error
When the positioning speed is set
exceeding " Speed limit
value", the positioning is executed
at " Speed limit value".
Da.2
Da.3
Pr.5
Pr.5