Mitsubishi Electric Q173DSCPU Programming Manual page 92

5 INPUT AXIS MODULE
(3) Speed control with fixed position stop for command generation axis
Speed control with fixed position stop can be performed for the command
generation axis.
Speed control with fixed position stop is started using the PVF (forward rotation)
or PVR (reverse rotation) of servo program instruction.
[Control details]
(a) After starting of command generation axis, control at the specified speed is
executed until the fixed position stop command turns on.
• PVF........ Forward rotation direction (Address increase direction) start
• PVR ....... Reverse rotation direction (Address decrease direction) start
(b) When the fixed position stop command turns on, a positioning control to the
specified address is executed.
(c) Speed control with fixed position stop can be executed in the command
generation axis with all the control units where [Pr.346] Command
generation axis length per cycle-1 is set to 1 to 2147483647. When [Pr.346]
Command generation axis length per cycle-1 is "0", the minor error (error
code: 130) will occur, and the control will not start.
(d) Address setting range is 0 to ([Pr.346] Command generation axis length per
cycle-1) in the indirect setting of positioning address. If it is set outside the
setting range, a servo program setting error [n03] occurs and it does not
start. Positioning address is input at the program start.
(e) It is controlled in the fixed position stop acceleration/deceleration time set in
the servo program at positioning start, speed change request (CHGVS) and
fixed position stop command ON. The fixed acceleration/deceleration time
method is used as an acceleration/deceleration processing in this case.
(f) The setting range of fixed position stop acceleration/deceleration time is 1 to
65535[ms].
(g) In the case of indirect setting, the fixed position stop
acceleration/deceleration time is input in the following timing.
• Positioning start
• Speed change request (CHGVS)
• Fixed position stop command ON
(h) When the positioning to specified address completes, the [St.341] Command
generation axis positioning complete signal (M9801+20n) turns ON. It does
not turn on at the time of stop by the [Rq.341] Command generation axis
stop command (M10960+20n)/[Rq.342] Command generation axis rapid
stop command (M10961+20n). The [St.341] Command generation axis
positioning complete signal (M9801+20n) turns off at leading edge of
[Rq.345] Command generation axis complete signal OFF command
(M10964+20n) or positioning start.
(i) Speed change can be executed any number of times by the speed change
request (CHGVS) instruction during operation.
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