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Chapter 9 Major Positioning Control
(4) Speed switching
(Refer to "[Pr.19] Speed switching mode".)
The two modes for changing the speed are shown below.
• Standard speed switching………Switch the speed when executing the
next positioning data.
• Front-loading speed switching….The speed switches at the end of the
positioning data currently being executed.
(a) Standard speed switching mode
1) If the respective command speeds differ in the "positioning data
currently being executed" and the "positioning data to carry out
the next operation", the machine will accelerate or decelerate
after reaching the positioning point set in the "positioning data
currently being executed" and the speed will change over to the
speed set in the "positioning data to carry out the next operation".
2) The parameters used in acceleration/deceleration to the
command speed set in the "positioning data to carry out the next
operation" are those of the positioning data to carry out
acceleration/deceleration.
Speed switching will not be carried out if the command speeds
are the same.
[QD77MS4 operation example]
OFF
ON
OFF
ON
OFF
ON
OFF
ON
11 11 11 01
00
V
Dwell time
t
Speed
switching
Da. 1 O
peration pattern
Positioning
Start complete signal
BUSY signal
Positioning complete signal
Positioning start signal
[XC, XD, XE, XF]
[X10, X11, X12, X13]
[Y10, Y11, Y12, Y13]
Dwell time
[X14, X15, X16, X17]
(Note): Refer to Section 3.3 for input/output signal of QD77MS16.
Fig. 9.4 Operation for the standard speed switching mode