■Speed switching (Front-loading speed switching mode: The speed switches at the end of the
positioning data currently being executed.) (Page 421 [Pr.19] Speed switching mode)
• If the respective command speeds differ in the "positioning data currently being executed" and the "positioning data to carry
out the next operation", the speed will change over to the speed set in the "positioning data to carry out the next operation"
at the end of the "positioning data currently being executed".
• The parameters used in acceleration/deceleration to the command speed set in the "positioning data to carry out the next
operation" are those of the positioning data to carry out acceleration/deceleration. Speed switching will not be carried out if
the command speeds are the same.
■RD77MS4 operation example
[Da.1] Operation pattern
Positioning start signal [Y10, Y11, Y12, Y13]
Start complete signal ([Md.31] Status: b14)
[X10, X11, X12, X13]
Positioning complete signal
([Md.31] Status: b15)
• If the movement amount is small in regard to the target speed, the current speed may not reach the target speed even if
acceleration/deceleration is carried out. In this case, the machine is accelerated/decelerated so that it nears the target
speed. If the movement amount will be exceeded when automatic deceleration is required (Ex. Operation patterns "00",
"01", etc.), the machine will immediately stop at the designated positioning address, and the warning "Insufficient
movement amount" (warning code: 0998H) will occur.
[When the speed cannot change over to the P2 speed in P1]
For the following relation of the speed P1 = P4, P2 = P3, P1 < P2
[When the movement amount is small during automatic
The movement amount required to carry out the automatic deceleration
cannot be secured, so the machine immediately stops in a speed 0 status.
3 MAJOR POSITIONING CONTROL
3.1 Outline of Major Positioning Controls
Pn + 1