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9   MAJOR POSITIONING CONTROL 

 

9.2.14 3-axis speed control 

In "3-axis speed control" ("

Da.2

Control system" = Forward run: speed 3, Reverse 

run: speed 3), control is carried out in the 3-axis direction in which the positioning data 
has been set by continuously outputting pulses for the speed set in "

Da.8

Command 

speed" until the input of a stop command. 
The two types of 3-axis speed control are "Forward run: speed 3" in which the control 
starts in the forward run direction, and "Reverse run: speed 3" in which control starts in 
the reverse run direction. 
(Refer to Section 9.1.6 "Interpolation control" for the combination of the reference axis 
with the interpolation axes.) 

 

 Operation chart 

The following chart shows the operation timing for 3-axis  (axes 1, 2, and 3) speed 
control with axis 1 as the reference axis.   
The "in speed control" flag (

Md.31

Status: b0) is turned ON during speed control. 

The "positioning complete signal" is not turned ON. 

 

t

V

BUSY signal
[XC,XD,XE]

OFF

ON

Positioning start signal
[Y10]

OFF

ON

Positioning complete signal
[X14,X15,X16]

OFF

Axis stop signal
(stop command)
(Either Y4,Y5 or Y6)

OFF

ON

Does not turn ON even
when control is stopped
by stop command.

Status: b0

OFF

ON

Md.31

In speed control flag

Da. 8

Referense axis (axis 1)

t

V

Da. 8

Interpolation axis (axis 2)

t

V

Command speed

Da. 8

Interpolation axis (axis 3)

Command speed

Command speed

 

 

Fig. 9.11 3-axis speed control operation timing