Mitsubishi Electric QD77MS User Manual page 468

POINTS
(1) The movement direction is not checked during interpolation operations. Thus, automatic deceleration to a stop will
not be carried out even if the movement direction is changed (See the figures below).
Because of this, the interpolation axis may suddenly reverse direction.
To avoid this sudden direction reversal in the interpolation axis, set the pass point to continuous positioning control
"01" instead of setting it to continuous path control "11".
[Positioning by interpolation]
Positioning data
No.1
Interpola-
tion axis
Positioning data No.1 • • • Continuous path control
(2) When a "0" is set in the "[Da.6] Positioning address/movement amount" of the continuous path control positioning
data, the command speed is reduced to 0 in an operation cycle.
When a "0" is set in the "[Da.6] Positioning address/movement amount" to increase the number of speed change
points in the future, change the "[Da.2] Control method" to the "NOP" to make the control nonexecutable.
(Refer to Section 9.2.20 "NOP instruction".)
(3) In the continuous path control positioning data, assure a movement distance so that the execution time with that
data is 100 ms or longer, or lower the command speed.
(b) During operation by step operation. (Refer to Section 13.7.1 "Step
function".)
(c) When there is an error in the positioning data to carry out the next
operation.
[Reference axis operation]
Positioning data
No.2
Reference axis
V
Positioning data Positioning data
No.1 No.2
9 - 10
Chapter 9 Major Positioning Control
[Interpolation axis operation]
V
t
Positioning data Positioning data
No.1 No.2
Suddenly
reverse
direction
t