User`s manual

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7
7-4 Nested startups in direct operation
When new operation data is set to special I/O data area and position control operation is executed with
operation at fixed speed during direct position control operation, new control is executed midway.
Nested startups are not possible during acceleration/deceleration operation, and are not possible from
speed control operation and program operation.
(1) Basic timing chart (in case of nested startups in same direction with absolute values)
In the following operation, the final position becomes position data b.
(2) Basic timing chart 2 (in the case of nested startups in opposite direction with absolute values)
In the following operation, the final position becomes position data b.
Position instruction value
Speed instruction value
Startup 2
Position control/speed
control setting (fixed to "0")
Position data a (target position) Position data b (target position)
Speed data a (target speed) Speed data b (target speed)
Positioning completed
Busy flag
Acceleration
time a *
Deceleration
time b *
Deceleration
time b *
Target position
Target speed a
Target speed b
Startup speed
Path when data a
is used
Position instruction value
Speed instruction value
Startup 2
Position control/speed
control setting (fixed to "0")
Position data a (target position) Position data b (target position)
Speed data a (target speed) Speed data b (target speed)
Acceleration
time a *
Acceleration
time a *
Deceleration
time b *
Deceleration
time b
*
Target speed a
Target speed b
Startup speed
Path when data a
is used
Target
position b
* The acceleration time and deceleration time are not the times up to when the speed arrives at the
target speed, but the time up to when the speed arrives at the reference speed of the parameter. (For
details, see item "Parameter".)