Characteristics
Switching to speed control
If a speed (S word) is programmed with M3 or M4 that is higher than the specified changeover parameter, changeover to speed control takes place automatically.
Switching back to position control
Switching back to position control takes place under the following conditions:
- A positioning operation has been programmed with M19.
- A CNC reset has been triggered.
- The spindle axis has been specified from the spindle interpolator (S[PUTAX] NC command).
 | If changeover to speed control has already taken place due to prior speed programming, changeover to position control does not take place in the event of further programming of a speed that lies under the switching back speed. |
Influence of the switching back speed
The position setpoint is ignored during speed control.
On changeover to position control, the CNC determines the theoretical position setpoint of the next cycle based on the current speed, the Kv factor of the drive and the bus run time. Thus, switching back to position control can take place without standstill of the axis.
The switching back speed specifies the speed as from which switching back to position control may take place.
| As the actual speed is subject to slight deviations, especially at higher speeds, to some extent slight jerk in the drive can be ascertained when switching back to position control at higher speeds. |
Programming example
%spindle-position
N10 M03 S1000
N20 M19 S.POS=180 M04 S50
M30
Special case
If, when M19 is programmed, the positioning speed is above the changeover speed, positioning nevertheless takes place in the position-controlled mode. Therefore, depending on the distance to be covered, operation in the position-controlled mode is therefore possible above the changeover speed.
Programming example
%spindle-position
(antr.velocity_position_control_on 1200000 -> 200 U/min
(antr.velocity_position_control_off 600000 -> 100 U/min
N10 M04 S1000
N20 M19 S.POS=180 M04 S500
M30
