Mitsubishi Electric MELSEC iQ-F Series FX5 User Manual page 244

Control precautions
• When the speed is changed during the continuous path control, the next positioning data is controlled with [Cd.14] New
speed value if no speed is specified (current speed) in the next positioning data. When a speed is specified in the next
positioning data, the next positioning data is controlled at the speed of [Da.8] Command speed.
[Cd.14] New speed
value
P2 command speed
P1 command speed
• When the speed is changed during the continuous path control, the speed change is ignored and Insufficient remaining
distance (Warning code: 0995H) occurs if a distance enough to perform the speed change cannot be ensured.
Positioning operation
[Cd.15] Speed change
request
[Md.24] Axis warning No.
• When the speed is changed by setting [Cd.14] New speed value to 0, the operation is performed as follows.
(1) When [Cd.15] Speed change request is turned on, Speed change 0 flag ([Md.31] Status: b10) is turned on. (During the interpolation control, Speed change 0
flag on the reference axis side is turned on.)
(2) The axis stops, but [Md.26] Axis operation status does not change and BUSY signal remains on.
(3) When a value other than 0 is set in [Cd.14] New speed value and the speed is changed while Speed change 0 flag ([Md.31] Status: b10) is on, Speed change
0 flag ([Md.31] Status: b10) is turned off and the operation continues.
(4) If a stop signal is input while Speed change 0 flag ([Md.31] Status: b10) is on, BUSY signal turns off and [Md.26] Axis operation status changes to "1:
Stopped". In this case, the operation cannot be continued even if a value other than 0 is set in [Cd.14] New speed value and the speed is changed.
[Cd.184] Positioning
start signal
[Md.141] BUSY signal
[Cd.14] New speed value
[Cd.15] Speed change
request
Positioning operation
Speed change 0 flag
([Md.31] Status: b10)
12 CONTROL SUB FUNCTION
242
12.5 Functions that Change Control Details
Positioning control
P1
Speed change command
v
New speed value
Distance
required for the
speed change
(gray area)
Remaining distance
(shaded area)
0
Positioning data No.1
ON
OFF
ON
OFF
0
ON
OFF
ON
OFF
Next control
P2
No corresponding speed command
(current speed)
Corresponding speed command exists
Insufficient remaining distance (0995H)
Positioning data No.2
1000
t