Speed-Switching By Instruction Execution - Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual

Speed-switching by instruction execution

The speed can be specified for each pass point during the continuous trajectory control instruction.
The speed change from a point can be specified directly or indirectly in the servo program.
Precautions
• The speed switching during servo instruction is possible at the continuous trajectory control for 1 to 4 axes.
• The speed command can be set for point.
• By turning on the "[Rq.1122] Speed-switching point specified flag (R: M30040/Q: M2040)" before the start, the point which
completes speed change can be specified. The speed change timing at the flag ON/OFF.
[Rq.1122] Speed-switching point specified flag
(R: M30040/Q: M2040)
OFF
ON
Details
The speed change starts with the specified speed-switching point.
V
Speed change complete point
Speed change
start point
Speed-switching specified point
The speed change ends with the specified speed-switching point.
V
Speed change complete point
Speed change
start point
Speed-switching specified point
5.17 Continuous Trajectory Control
t
(position)
t
(position)
5 POSITIONING CONTROL
5
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